相关论文: MinkUNeXt-SI: Improving point cloud-based place re…

Object detection and classification is one of the most important computer vision problems. Ever since the introduction of deep learning \cite{krizhevsky2012imagenet}, we have witnessed a dramatic increase in the accuracy of this object…

Point-cloud based 3D object detectors recently have achieved remarkable progress. However, most studies are limited to the development of network architectures for improving only their accuracy without consideration of the computational…

Object detection on Lidar point cloud data is a promising technology for autonomous driving and robotics which has seen a significant rise in performance and accuracy during recent years. Particularly uncertainty estimation is a crucial…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Registering urban point clouds is a quite challenging task due to the large-scale, noise and data incompleteness of LiDAR scanning data. In this paper, we propose SARNet, a novel semantic augmented registration network aimed at achieving…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

In the era of AI at the edge, self-driving cars, and climate change, the need for energy-efficient, small, embedded AI is growing. Spiking Neural Networks (SNNs) are a promising approach to address this challenge, with their event-driven…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

This paper addresses the problem of learning to complete a scene's depth from sparse depth points and images of indoor scenes. Specifically, we study the case in which the sparse depth is computed from a visual-inertial simultaneous…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…